Chapter 7 — Motion Planning

Alpha puzzle

The alpha puzzle problem is a common benchmark scenario for motion planning. The puzzle consists of two intertwined twisted tubes. The objective is to separate the tubes, where one tube is considered a stationary obstacle and the other tube is the moving object (robot). Solving the problem is challenging because it contains a narrow passage in the configuration space. This plan was generated by a sampling-based motion planner implemented in the Open Motion Planning Library (OMPL).
Mark Moll
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